Bistable bionic sucker and adsorption method

Abstract

The invention discloses a bistable bionic suction cup and an adsorption method, and relates to the technical field of adsorption device.The bistable bionic suction cup comprises a shell, a grabbing assembly and a lip ring, and the shell is provided with a deformation plate; the lip ring is annularly arranged on the outer side of the deformation plate, and an adsorption space is defined by the lip ring and the deformation plate; the grabbing assembly comprises a plurality of grabbing hooks, and all the grabbing hooks are arranged on the deformation plate and located in the adsorption space. When the deformation plate is sunken in the direction away from the to-be-adsorbed surface, the ends, away from the deformation plate, of the grabbing hooks are folded towards the center of the deformation plate so as to grab the to-be-adsorbed surface; when the deformation plate protrudes in the direction close to the to-be-adsorbed surface, the end, away from the deformation plate, of each claw hook is opened towards the edge of the deformation plate so as to loosen the to-be-adsorbed surface. According to the technical scheme provided by the invention, the technical problems that the lateral bearing capacity of the sucker is insufficient and the sucker is difficult to adsorb on a complex surface can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of adsorption equipment, and in particular to a bistable bionic suction cup and an adsorption method. Background Art

[0002] Suction cups are widely used in industry and daily life as a tool that uses the pressure difference between inside and outside to achieve adsorption. Traditional suction cups mainly achieve adsorption by generating a strong positive adsorption force through negative pressure, but they have technical problems such as insufficient lateral load capacity and difficulty in adsorbing on complex surfaces.

[0003] Therefore, it is necessary to provide a new bistable bionic suction cup and adsorption method to solve the above-mentioned technical problems. Summary of the invention

[0004] The main purpose of the present invention is to provide a bistable bionic suction cup and an adsorption method, aiming to solve the technical problems of insufficient lateral load-bearing capacity of the suction cup and difficulty in adsorbing on complex surfaces.

[0005] To achieve the above object, the present invention provides a bistable bionic suction cup, comprising:

[0006] A shell, wherein the shell is provided with a deformable plate;

[0007] A lip ring, the lip ring is arranged on the shell, the lip ring is arranged around the outer side of the deformation plate, and is surrounded by the deformation plate to form an adsorption space;

[0008] A grabbing assembly, the grabbing assembly comprising a plurality of grabbing hooks, each of the grabbing hooks being arranged on the deformable plate and located in the adsorption space;

[0009] When the deformation plate is recessed in the direction away from the surface to be adsorbed, the end of each grabbing hook facing away from the deformation plate closes toward the center of the deformation plate to grab the surface to be adsorbed; when the deformation plate is convex in the direction close to the surface to be adsorbed, the end of each grabbing hook facing away from the deformation plate opens toward the edge of the deformation plate to release the surface to be adsorbed.

[0010] In one embodiment, the plurality of grappling hooks are distributed in a multi-layer ring shape.

[0011] In one embodiment, the size of each of the grab hooks gradually decreases from the center of the deformable plate to the edge of the deformable plate.

[0012] In one embodiment, each of the grab hooks is gradually tapered from an end close to the deformable plate to an end away from the deformable plate.

[0013] In one embodiment, each of the grab hooks is bent toward the center of the deformable plate.

[0014] In one embodiment, the shell includes a body and a cover, the cover is arranged on the body and surrounds the body to form an open cavity, the deformation plate is arranged at the opening of the open cavity, and the body, the cover and the deformation plate surround to form an air chamber, the cover is provided with an air hole communicating with the air chamber, and the lip ring is arranged on the body;

[0015] When air is extracted from the air chamber through the air hole, the volume of the air chamber decreases, the deformable plate is recessed in the direction away from the surface to be adsorbed, and one end of each grabbing hook facing away from the deformable plate closes toward the center of the deformable plate to grab the surface to be adsorbed; when air is injected into the air chamber through the air hole, the volume of the air chamber increases, the deformable plate protrudes in the direction close to the surface to be adsorbed, and one end of each grabbing hook facing away from the deformable plate opens toward the edge of the deformable plate to release the surface to be adsorbed.

[0016] In one embodiment, the lip ring is provided with a mounting block, the mounting block is provided with an annular clamping block, the shell is provided with an annular clamping groove, and the annular clamping block is clamped in the annular clamping groove.

[0017] In one embodiment, the number of the annular clamping blocks and the number of the annular clamping grooves are both two, and each of the annular clamping blocks is clamped in the corresponding annular clamping groove.

[0018] In one embodiment, the lip ring is provided with a first end face and a second end face opposite to each other, the first end face is used to fit with the plane to be adsorbed, and the second end face is provided with a pulling block.

[0019] The present invention further provides an adsorption method, which is applied to the bistable bionic suction cup as described above, and the adsorption method comprises:

[0020] Inject air into the air chamber through the air holes to make the deformable plate bulge in the direction close to the surface to be adsorbed;

[0021] The lip ring is attached to the surface to be adsorbed, and the bistable bionic suction cup is squeezed to discharge at least part of the air in the adsorption space, and the bistable bionic suction cup is preliminarily adsorbed to the surface to be adsorbed;

[0022] The air in the air chamber is extracted through the air holes, so that the deformable plate is sunken in a direction away from the surface to be adsorbed, and then the end of each hook away from the deformable plate is closed toward the center of the deformable plate to grab the surface to be adsorbed.

[0023] The technical solution of the present invention is to set a plurality of grabbing hooks on the deformation plate so that when the bistable bionic suction cup is adsorbed to the surface to be adsorbed, the grabbing hooks grab the surface to be adsorbed, thereby enhancing the lateral load-bearing capacity of the bistable bionic suction cup and enabling the bistable bionic suction cup to be adsorbed on various complex surfaces; at the same time, it can also ensure that the bistable bionic suction cup is adsorbed firmly. In this embodiment, the grabbing assembly includes a plurality of grabbing hooks, and the plurality of grabbing hooks are used to grab the surface to be adsorbed when the bistable bionic suction cup is adsorbed to the surface to be adsorbed, thereby enhancing the lateral load-bearing capacity of the bistable bionic suction cup and ensuring that the bistable bionic suction cup is adsorbed firmly. Specifically, when the bistable bionic suction cup is adsorbed to the surface to be adsorbed, a plurality of hooks are used to grab the surface to be adsorbed, so that a firm connection point can be formed between the hooks and the surface to be adsorbed; when the bistable bionic suction cup is subjected to a lateral force, the interlocking force formed by the hooks grabbing the surface to be adsorbed can effectively resist the lateral force, and transmit the lateral force to the connection point between the hooks and the surface to be adsorbed, thereby dispersing and offsetting the lateral force, and enhancing the lateral bearing capacity of the bistable bionic suction cup. In addition, when the bistable bionic suction cup is adsorbed to the surface to be adsorbed, the hooks are used to grab the surface to be adsorbed, which can provide a gripping force to ensure that the bistable bionic suction cup is adsorbed firmly; at the same time, the gripping force provided by the hooks can also improve the adsorption performance of the bistable bionic suction cup when it is adsorbed to a complex surface, and achieve long-term stable adsorption. The lip ring is arranged on the outside of the hook and is used to fit with the surface to be adsorbed. Specifically, when installing the bistable bionic suction cup, the user first makes the deformation plate bulge in the direction close to the surface to be adsorbed, then fits the lip ring of the bistable bionic suction cup to the adsorption surface and squeezes the bistable bionic suction cup to complete the initial adsorption of the bistable bionic suction cup; then makes the deformation plate concave in the direction away from the surface to be adsorbed, as the deformation plate concave in the direction away from the surface to be adsorbed, the end of each grab hook facing away from the deformation plate will pierce into the surface to be adsorbed while closing towards the center of the deformation plate, thereby forming a claw-like structure to grab the surface to be adsorbed. When disassembling the bistable bionic suction cup, the user first makes the deformation plate bulge toward the direction of the surface to be adsorbed. As the deformation plate bulges toward the direction of the surface to be adsorbed, the end of each hook away from the deformation plate will gradually detach from the surface to be adsorbed while opening toward the edge of the deformation plate, thereby releasing the grip of the surface to be adsorbed by each hook; then the user can lift the lip ring from the edge of the lip ring to destroy the seal between the lip ring and the surface to be adsorbed, thereby releasing the negative pressure adsorption of the bistable bionic suction cup and detaching the bistable bionic suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0025] Figure 1 Schematic structural diagram of the bistable bionic suction cup in a raised state of the deformation plate in an embodiment provided by the present invention;

[0026] Figure 2 Cross-sectional view of the bistable bionic suction cup in an embodiment provided by the present invention when the deformation plate bulges towards the surface to be adsorbed;

[0027] Figure 3 Cross-sectional view of the bistable bionic suction cup in an embodiment provided by the present invention when the deformation plate depresses away from the surface to be adsorbed;

[0028] Figure 4 Schematic flow chart of the adsorption method in an embodiment provided by the present invention.

[0029] Explanation of the reference numerals in the drawings:

[0030] 100, housing; 110, deformation plate; 120, body; 121, annular clamping groove; 130, cover body; 131, air hole; 140, air chamber; 200, grasping assembly; 210, hook; 300, lip ring; 310, mounting block; 311, annular clamping block; 320, first end face; 330, second end face; 331, pulling block.

[0031] The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0034] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B.

[0035] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0036] Suction cups are widely used in industry and daily life as a tool that uses the difference in internal and external pressure to achieve adsorption. Traditional suction cups are usually made of flexible materials, and they mainly achieve adsorption through the adsorption force generated by negative pressure. However, in actual use and research and development, researchers have found that traditional suction cups cannot effectively resist lateral disturbances when subjected to lateral forces, and are prone to slippage or even falling off; the lateral force refers to the thrust or pull applied to the suction cup from one side of the suction cup. In addition, when traditional suction cups are adsorbed on complex surfaces such as rough and irregular surfaces, their adsorption performance will drop significantly, making it difficult to achieve long-term stable adsorption.

[0037] The present invention provides a bistable bionic suction cup and an adsorption method, aiming to solve the technical problems of insufficient lateral bearing capacity of the suction cup and difficulty in adsorbing on complex surfaces.

[0038] See also Figures 1 to 3 In one embodiment of the present invention, the bistable bionic suction cup includes a shell 100, a gripping assembly 200 and a lip ring 300. The shell 100 is provided with a deformation plate 110. The lip ring 300 is provided on the shell 100, and the lip ring 300 is arranged around the outer side of the deformation plate 110, and is surrounded by the deformation plate 110 to form an adsorption space. The gripping assembly 200 includes a plurality of gripping hooks 210, each of which is arranged on the deformation plate 110 and is located in the adsorption space. When the deformation plate 110 is recessed in a direction away from the surface to be adsorbed, one end of each gripping hook 210 away from the deformation plate 110 is closed toward the center of the deformation plate 110 to grasp the surface to be adsorbed; when the deformation plate 110 is convex in a direction close to the surface to be adsorbed, one end of each gripping hook 210 away from the deformation plate 110 is opened toward the edge of the deformation plate 110 to release the surface to be adsorbed.

[0039] The technical solution of the present invention is to provide a plurality of hooks 210 on the deformation plate 110, so that when the bistable bionic suction cup adsorbs to the surface to be adsorbed, the hooks 210 can grab the surface to be adsorbed, which can enhance the lateral bearing capacity of the bistable bionic suction cup and enable the bistable bionic suction cup to adsorb on various complex surfaces; at the same time, it can also ensure the firm adsorption of the bistable bionic suction cup. In this embodiment, the grasping assembly 200 includes a plurality of hooks 210, and the plurality of hooks 210 are used to grab the surface to be adsorbed when the bistable bionic suction cup adsorbs to the surface to be adsorbed, so as to enhance the lateral bearing capacity of the bistable bionic suction cup and ensure the firm adsorption of the bistable bionic suction cup. Specifically, when the bistable bionic suction cup adsorbs to the surface to be adsorbed, using a plurality of hooks 210 to grab the surface to be adsorbed can form a firm connection point between the hooks 210 and the surface to be adsorbed; when the bistable bionic suction cup is subjected to a lateral force, the embedding force formed by the hooks 210 grabbing the surface to be adsorbed can effectively resist the lateral force and transfer the lateral force to the connection point between the hooks 210 and the surface to be adsorbed, thereby dispersing and offsetting the lateral force and enhancing the lateral bearing capacity of the bistable bionic suction cup. Moreover, when the bistable bionic suction cup adsorbs to the surface to be adsorbed, using the hooks 210 to grab the surface to be adsorbed can provide a grasping force to ensure the firm adsorption of the bistable bionic suction cup; at the same time, the grasping force provided by the hooks 210 can also improve the adsorption performance of the bistable bionic suction cup when adsorbing to a complex surface and achieve long-term stable adsorption. The lip ring 300 is disposed around the outside of the hook 210 and is used to fit with the surface to be adsorbed. Specifically, when installing the bistable bionic suction cup, the user first makes the deformation plate 110 bulge towards the surface to be adsorbed, and then fits the lip ring 300 of the bistable bionic suction cup to the adsorption surface and squeezes the bistable bionic suction cup to complete the preliminary adsorption of the bistable bionic suction cup; then makes the deformation plate 110 sink away from the surface to be adsorbed. As the deformation plate 110 sinks away from the surface to be adsorbed, the end of each hook 210 facing away from the deformation plate will pierce into the surface to be adsorbed while closing towards the center of the deformation plate 110, thereby forming a hook-like structure and grabbing the surface to be adsorbed. When disassembling the bistable bionic suction cup, the user first makes the deformation plate 110 bulge towards the surface to be adsorbed. As the deformation plate 110 bulges towards the surface to be adsorbed, the end of each hook 210 facing away from the deformation plate will gradually disengage from the surface to be adsorbed while opening towards the edge of the deformation plate 110, releasing the grasping of each hook 210 on the surface to be adsorbed; then the user can lift the lip ring 300 from the edge of the lip ring 300, break the seal between the lip ring 300 and the surface to be adsorbed, release the negative pressure adsorption of the bistable bionic suction cup, and make the bistable bionic suction cup disengage.

[0040] In the present embodiment, the shell 100 and the gripping assembly 200 are the hard bodies of the bistable bionic suction cup, and the lip ring 300 is made of a flexible silicone material. Specifically, the hard bodies such as the shell 100 and the gripping assembly 200 can be made by 3D printing of photosensitive resin materials, and the lip ring 300 can be directly made on the hard body composed of the shell 100 and the gripping assembly 200 by silicone casting. In addition, it should be noted that the bistable bionic suction cup can be adsorbed not only to the surface to be adsorbed in the atmospheric environment, but also to the surface to be adsorbed in the water by setting a grab hook. In other words, the bistable bionic suction cup can be used not only in the atmospheric environment, but also in water.

[0041] See also Figure 1 In one embodiment of the present invention, a plurality of grab hooks 210 are arranged on the deformation plate 110 and are distributed in a multi-layer ring shape. In this embodiment, the plurality of grab hooks 210 are arranged in a multi-layer ring shape, which can improve the gripping force of the grab hooks 210 when grabbing the surface to be adsorbed, so as to ensure the reliable adsorption of the bistable bionic suction cup. Specifically, when the deformation plate 110 is recessed away from the surface to be adsorbed, the end of each grab hook 210 away from the deformation plate 110 will be closed toward the center of the deformation plate, and in this process, the grab hooks 210 distributed in a ring shape will interact with each other to improve the gripping force of the grab hook 210 when grabbing the surface to be adsorbed, so as to ensure the reliable adsorption of the bistable bionic suction cup. Arranging the grab hooks 210 in multiple layers can increase the gripping area of ​​the gripping component 200 when gripping the surface to be adsorbed, ensure the gripping effect, and further ensure the reliable adsorption of the bistable bionic suction cup. In a specific embodiment, each grab hook 210 is bent toward the center of the deformation plate 110; the grab hooks 210 are configured to be bent toward the center of the deformation plate 110, which can be matched with the annular distribution form of the grab hooks 210 to improve the gripping force of the grab hooks 210 when grasping the surface to be adsorbed, thereby ensuring the reliable adsorption of the bistable bionic suction cup.

[0042] See also Figure 1, in an embodiment of the present invention, the sizes of the hooks 210 gradually decrease from the center of the deformation plate 110 to the edge of the deformation plate 110; wherein, the size of the hook 210 refers to the height and volume of the hook 210, that is to say, the height and volume of the hook 210 gradually decrease from the inside to the outside. In this embodiment, setting the sizes of the hooks 210 to gradually decrease from the inside to the outside can, on the one hand, improve the grasping force of the hooks 210 when grasping the surface to be adsorbed, and on the other hand, avoid interference between the outer hooks 210 and the surface to be adsorbed when the bistable bionic suction cup is initially adsorbed to the surface to be adsorbed, thereby ensuring that the lip ring 300 of the bistable bionic suction cup can be initially adsorbed to the surface to be adsorbed. Specifically, when the bistable bionic suction cup is initially adsorbed to the surface to be adsorbed, the deformation plate 110 bulges towards the surface to be adsorbed. At this time, the hooks 210 provided on the deformation plate 110 will have contact interference with the surface to be adsorbed; if the sizes of the outer hooks 210 are relatively large, it is very likely that the lip ring 300 cannot be completely attached to the surface to be adsorbed, and thus the bistable bionic suction cup cannot be initially adsorbed to the surface to be adsorbed. By setting the sizes of the hooks 210 of the bistable bionic suction cup to gradually decrease from the inside to the outside, the probability of interference between the outer hooks 210 and the surface to be adsorbed can be reduced, thereby ensuring that the bistable bionic suction cup can be initially adsorbed to the surface to be adsorbed.

[0043] Please refer to Figure 1 and Figure 2 , in an embodiment of the present invention, each hook 210 is tapered from the end close to the deformation plate 110 to the end far from the deformation plate 110. In this embodiment, the hook 210 is set to a conical-like structure, which facilitates the hook 210 to penetrate into the surface to be adsorbed when grasping the surface to be adsorbed, and complete the grasping of the surface to be adsorbed.

[0044] Please refer to Figure 2 and Figure 3, in an embodiment of the present invention, the housing 100 includes a main body 120 and a cover 130. The cover 130 is disposed on the main body 120 and encloses an open cavity with the main body. The deformation plate 110 is disposed at the opening of the open cavity, and the main body 120, the cover 130, and the deformation plate 110 enclose an air chamber 140. The cover 130 is provided with an air hole 131 communicating with the air chamber 140. The lip ring 300 is disposed on the main body 120. Among them, the air hole 131 is used to communicate with an external ventilation device, and the ventilation device can be a fan, an air pump, etc.; when the air in the air chamber 140 is extracted through the air hole 131, the volume of the air chamber 140 decreases, and the deformation plate 110 is recessed in a direction away from the surface to be adsorbed, and one end of each hook 210 facing away from the deformation plate 110 closes towards the center of the deformation plate 110 to grasp the surface to be adsorbed; when air is injected into the air chamber 140 through the air hole 131, the volume of the air chamber 140 increases, and the deformation plate 110 bulges in a direction close to the surface to be adsorbed, and one end of each hook 210 facing away from the deformation plate 110 opens towards the edge of the deformation plate 110 to release the surface to be adsorbed. In this embodiment, by changing the volume of the air chamber 140, the deformation of the deformation plate 110 is driven, so that the deformation plate 110 is recessed in a direction away from the surface to be adsorbed or bulges in a direction close to the surface to be adsorbed, and further the hook 210 grasps or releases the surface to be adsorbed. It has the characteristics of simple structure and convenient production, and can reduce the production difficulty of the bistable bionic suction cup. Moreover, when the user changes the volume of the air chamber 140, the volume of the air chamber 140 can also be switched to a corresponding size according to the actual adsorption force requirement. In this embodiment, the extraction of air from the air chamber and the injection of air into the air chamber are mainly completed by the ventilation device. Among them, in order to realize the automatic air extraction and injection of the air chamber, the ventilation device needs to be always connected to the air hole. Therefore, the air chamber of the bistable bionic suction cup can be sealed through the ventilation device without setting an additional blocking structure. If the ventilation device is not always connected to the air hole during actual use, a corresponding plug or cover needs to be installed at the air hole to block the air hole and seal the air chamber. In a specific embodiment, the deformation plate 110 is integrally formed with the main body 120, and the cover 130 is bonded to the main body 120.

[0045] In another embodiment of the present invention, the deformation of the deformation plate 110 can also be driven by means of a driving cylinder, a driving oil cylinder, etc. For example: an installation block 310 is provided on the housing 100, a driving cylinder is provided on the installation block 310, and the telescopic rod of the driving cylinder is connected to the center of the deformation plate 110; by controlling the operation of the driving cylinder, the deformation plate 110 will move under the drive of the telescopic rod to realize the switching between the recessed state and the protruding state. In addition, a control rod can be installed on the deformation plate, and during use, the user manually pushes and pulls the control rod to drive the deformation of the deformation plate.

[0046] Please refer to Figure 1 and Figure 2, in an embodiment of the present invention, the lip ring 300 is provided with a mounting block 310, and the mounting block 310 is provided with an annular clamping block 311. The housing 100 is provided with an annular clamping groove 121, and the annular clamping block 311 is clamped in the annular clamping groove 121. In this embodiment, clamping the annular clamping block 311 provided on the lip ring 300 in the annular clamping groove 121 of the housing 100 can ensure the stable position of the lip ring 300 when it is installed on the housing 100. In a specific embodiment, the number of both the annular clamping block 311 and the annular clamping groove 121 is two, and each annular clamping block 311 is clamped in the corresponding annular clamping groove 121.

[0047] Please refer to Figure 1 and Figure 2 , in an embodiment of the present invention, the lip ring 300 is provided with a first end face 320 and a second end face 330 oppositely. The first end face 320 is used to fit with the surface to be adsorbed, and the second end face 330 is provided with a pulling block 331. In this embodiment, the first end face 320 of the lip ring 300 is used to fit with the surface to be adsorbed to achieve the preliminary adsorption of the bistable bionic suction cup. The second end face 330 is provided with a pulling block 331, and the pulling block 331 can be grasped by the user when disassembling the bistable bionic suction cup, so as to reduce the difficulty for the user to disassemble the bistable bionic suction cup. In a specific embodiment, to further reduce the difficulty for the user to disassemble the bistable bionic suction cup, the pulling block 331 can be installed in the area near the edge of the second end face 330 of the lip ring 300.

[0048] In another embodiment of the present invention, the lip ring 300 is provided with a ventilation hole communicating with the adsorption space, and a plugging block is arranged in the ventilation hole. Among them, the plugging block is used to plug the ventilation hole; when disassembling the bistable bionic suction cup, the user can pull out the plugging block to communicate the adsorption space with the outside, thereby destroying the seal between the bistable bionic suction cup and the surface to be adsorbed, releasing the negative pressure adsorption, and detaching the bistable bionic suction cup.

[0049] The manufacturing and assembly process of this bistable bionic suction cup is as follows: Based on 3D printing technology, the main body 120, the deformation plate 110 and the grasping assembly 200 are integrally formed using photosensitive resin material, and the cover body 130 and the pulling block 331 are made of resin material; the cover body 130 is bonded to the main body 120 with strong glue and sealed; then, based on the designed casting mold, silicone material is poured into the rigid main body composed of the housing 100 and the grasping assembly 200 to form the lip ring 300; finally, the pulling block 331 is bonded to the second end face 330 of the lip ring 300 with strong glue to complete the assembly.

[0050] Please refer to Figure 4 , Figure 4 is a schematic flow chart of an adsorption method in an embodiment provided by the present invention. The present invention also proposes an adsorption method, which is applied to the above-mentioned bistable bionic suction cup. This adsorption method includes:

[0051] S100, injecting air into the air chamber 140 through the air hole 131, so that the deformation plate 110 bulges toward the direction close to the surface to be adsorbed;

[0052] S200, attaching the lip ring 300 to the surface to be adsorbed, and squeezing the bistable bionic suction cup to discharge at least part of the air in the adsorption space, so as to preliminarily adsorb the bistable bionic suction cup to the surface to be adsorbed;

[0053] S300, air in the air chamber 140 is extracted through the air holes 131, so that the deformable plate 110 is sunken in a direction away from the surface to be adsorbed, and then the end of each hook 210 away from the deformable plate 110 is closed toward the center of the deformable plate 110 to grab the surface to be adsorbed.

[0054] Specifically, the specific adsorption process of the bistable bionic suction cup is as follows: before adsorption, the ventilation equipment is controlled to operate, and gas is injected into the air chamber 140 through the air hole 131 to generate high pressure, so that the deformation plate 11 bulges toward the direction close to the surface to be adsorbed. At this time, the ends of each hook 210 away from the deformation plate 110 will open to each other; then, the lip ring 300 is attached to the surface to be adsorbed, and the adsorption space formed by the lip ring 300 and the deformation plate 110 is squeezed to form a pressure difference, so that the bistable bionic suction cup is The suction cup is initially adsorbed to the surface to be adsorbed, achieving the initial adsorption of the bistable bionic suction cup; finally, the ventilation equipment is controlled to operate, and the air in the air chamber 140 is extracted through the air hole 131, so that the deformation plate 110 is recessed in the direction away from the surface to be adsorbed. As the deformation plate 110 is recessed in the direction away from the surface to be adsorbed, the end of each grab hook 210 away from the deformation plate 110 will pierce into the surface to be adsorbed while closing toward the center of the deformation plate 110, thereby forming a claw-like structure to grasp the surface to be adsorbed. It should be noted that with the deformation of the deformation plate 110, the chamber pressure between the bistable bionic suction cup and the surface to be adsorbed will further decrease. At this time, the external pressure on the bistable bionic suction cup will increase, which can enhance the adsorption force of the bistable bionic suction cup and ensure that the bistable bionic suction cup is firmly adsorbed. When the grab hook 210 grasps the surface to be adsorbed, the lateral bearing capacity can be significantly improved.

[0055] Accordingly, when the bistable bionic suction cup needs to be removed, the ventilation equipment is controlled to operate, and gas is injected into the air chamber 140 through the air hole 131, so that the deformation plate 110 bulges toward the direction close to the surface to be adsorbed. As the deformation plate 110 bulges toward the direction close to the surface to be adsorbed, the end of each hook 210 that is away from the deformation plate will gradually detach from the surface to be adsorbed while opening toward the edge of the deformation plate 110, thereby releasing the grip of each hook 210 on the surface to be adsorbed; then, the user pulls the pull block 331 to destroy the seal between the bistable bionic suction cup and the surface to be adsorbed, releases the negative pressure adsorption of the bistable bionic suction cup, and causes the bistable bionic suction cup to detach.

[0056] The above are only exemplary embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A bistable bionic suction cup, characterized in that: include: A shell, wherein the shell is provided with a deformable plate; A lip ring, the lip ring is arranged on the shell, the lip ring is arranged around the outer side of the deformation plate, and is surrounded by the deformation plate to form an adsorption space; A grabbing assembly, the grabbing assembly comprising a plurality of grabbing hooks, each of the grabbing hooks being arranged on the deformable plate and located in the adsorption space; When the deformation plate is recessed in the direction away from the surface to be adsorbed, the end of each grabbing hook facing away from the deformation plate closes toward the center of the deformation plate to grab the surface to be adsorbed; when the deformation plate is convex in the direction close to the surface to be adsorbed, the end of each grabbing hook facing away from the deformation plate opens toward the edge of the deformation plate to release the surface to be adsorbed.

2. The bistable bionic suction cup according to claim 1, characterized in that: The plurality of grab hooks are distributed in a multi-layer ring shape.

3. The bistable bionic suction cup according to claim 1, characterized in that: The size of each of the grab hooks gradually decreases from the center of the deformable plate to the edge of the deformable plate.

4. The bistable bionic suction cup according to claim 1, characterized in that: Each of the grab hooks is gradually arranged from an end close to the deformation plate to an end away from the deformation plate.

5. The bistable bionic suction cup according to claim 4, characterized in that: Each of the grab hooks is bent toward the center of the deformable plate.

6. The bistable bionic suction cup according to claim 1, characterized in that: The shell comprises a body and a cover, the cover is arranged on the body and surrounds the body to form an open cavity, the deformation plate is arranged at the opening of the open cavity, and the body, the cover and the deformation plate surround to form an air chamber, the cover is provided with an air hole communicating with the air chamber, and the lip ring is arranged on the body; When air is extracted from the air chamber through the air hole, the volume of the air chamber decreases, the deformable plate is recessed in the direction away from the surface to be adsorbed, and one end of each grabbing hook facing away from the deformable plate closes toward the center of the deformable plate to grab the surface to be adsorbed; when air is injected into the air chamber through the air hole, the volume of the air chamber increases, the deformable plate protrudes in the direction close to the surface to be adsorbed, and one end of each grabbing hook facing away from the deformable plate opens toward the edge of the deformable plate to release the surface to be adsorbed.

7. The bistable bionic suction cup according to claim 1, characterized in that: The lip ring is provided with a mounting block, the mounting block is provided with an annular clamping block, the shell is provided with an annular clamping groove, and the annular clamping block is clamped in the annular clamping groove.

8. The bistable bionic suction cup according to claim 7, characterized in that: The number of the annular clamping blocks and the number of the annular clamping grooves are both two, and each annular clamping block is clamped in the corresponding annular clamping groove.

9. The bistable bionic suction cup according to any one of claims 1 to 8, characterized in that: The lip ring is provided with a first end face and a second end face opposite to each other, the first end face is used to fit with the plane to be adsorbed, and the second end face is provided with a pulling block.

10. An adsorption method, applied to the bistable bionic suction cup according to any one of claims 1 to 9, characterized in that: The adsorption method comprises: Inject air into the air chamber through the air holes to make the deformable plate bulge in the direction close to the surface to be adsorbed; The lip ring is attached to the surface to be adsorbed, and the bistable bionic suction cup is squeezed to discharge at least part of the air in the adsorption space, and the bistable bionic suction cup is preliminarily adsorbed to the surface to be adsorbed; The air in the air chamber is extracted through the air holes, so that the deformable plate is sunken in a direction away from the surface to be adsorbed, and then the end of each hook away from the deformable plate is closed toward the center of the deformable plate to grab the surface to be adsorbed.

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